[136] | 1 | // This file is part of Eigen, a lightweight C++ template library
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| 2 | // for linear algebra.
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| 3 | //
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| 4 | // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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| 5 | // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
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| 6 | // Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
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| 7 | //
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| 8 | // This Source Code Form is subject to the terms of the Mozilla
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| 9 | // Public License v. 2.0. If a copy of the MPL was not distributed
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| 10 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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| 11 |
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| 12 | #ifndef EIGEN_TRANSFORM_H
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| 13 | #define EIGEN_TRANSFORM_H
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| 14 |
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| 15 | namespace Eigen {
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| 16 |
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| 17 | namespace internal {
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| 18 |
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| 19 | template<typename Transform>
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| 20 | struct transform_traits
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| 21 | {
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| 22 | enum
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| 23 | {
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| 24 | Dim = Transform::Dim,
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| 25 | HDim = Transform::HDim,
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| 26 | Mode = Transform::Mode,
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| 27 | IsProjective = (int(Mode)==int(Projective))
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| 28 | };
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| 29 | };
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| 30 |
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| 31 | template< typename TransformType,
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| 32 | typename MatrixType,
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| 33 | int Case = transform_traits<TransformType>::IsProjective ? 0
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| 34 | : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
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| 35 | : 2>
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| 36 | struct transform_right_product_impl;
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| 37 |
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| 38 | template< typename Other,
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| 39 | int Mode,
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| 40 | int Options,
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| 41 | int Dim,
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| 42 | int HDim,
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| 43 | int OtherRows=Other::RowsAtCompileTime,
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| 44 | int OtherCols=Other::ColsAtCompileTime>
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| 45 | struct transform_left_product_impl;
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| 46 |
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| 47 | template< typename Lhs,
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| 48 | typename Rhs,
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| 49 | bool AnyProjective =
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| 50 | transform_traits<Lhs>::IsProjective ||
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| 51 | transform_traits<Rhs>::IsProjective>
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| 52 | struct transform_transform_product_impl;
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| 53 |
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| 54 | template< typename Other,
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| 55 | int Mode,
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| 56 | int Options,
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| 57 | int Dim,
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| 58 | int HDim,
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| 59 | int OtherRows=Other::RowsAtCompileTime,
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| 60 | int OtherCols=Other::ColsAtCompileTime>
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| 61 | struct transform_construct_from_matrix;
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| 62 |
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| 63 | template<typename TransformType> struct transform_take_affine_part;
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| 64 |
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| 65 | template<int Mode> struct transform_make_affine;
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| 66 |
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| 67 | } // end namespace internal
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| 68 |
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| 69 | /** \geometry_module \ingroup Geometry_Module
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| 70 | *
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| 71 | * \class Transform
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| 72 | *
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| 73 | * \brief Represents an homogeneous transformation in a N dimensional space
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| 74 | *
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| 75 | * \tparam _Scalar the scalar type, i.e., the type of the coefficients
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| 76 | * \tparam _Dim the dimension of the space
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| 77 | * \tparam _Mode the type of the transformation. Can be:
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| 78 | * - #Affine: the transformation is stored as a (Dim+1)^2 matrix,
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| 79 | * where the last row is assumed to be [0 ... 0 1].
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| 80 | * - #AffineCompact: the transformation is stored as a (Dim)x(Dim+1) matrix.
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| 81 | * - #Projective: the transformation is stored as a (Dim+1)^2 matrix
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| 82 | * without any assumption.
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| 83 | * \tparam _Options has the same meaning as in class Matrix. It allows to specify DontAlign and/or RowMajor.
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| 84 | * These Options are passed directly to the underlying matrix type.
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| 85 | *
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| 86 | * The homography is internally represented and stored by a matrix which
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| 87 | * is available through the matrix() method. To understand the behavior of
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| 88 | * this class you have to think a Transform object as its internal
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| 89 | * matrix representation. The chosen convention is right multiply:
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| 90 | *
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| 91 | * \code v' = T * v \endcode
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| 92 | *
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| 93 | * Therefore, an affine transformation matrix M is shaped like this:
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| 94 | *
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| 95 | * \f$ \left( \begin{array}{cc}
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| 96 | * linear & translation\\
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| 97 | * 0 ... 0 & 1
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| 98 | * \end{array} \right) \f$
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| 99 | *
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| 100 | * Note that for a projective transformation the last row can be anything,
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| 101 | * and then the interpretation of different parts might be sightly different.
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| 102 | *
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| 103 | * However, unlike a plain matrix, the Transform class provides many features
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| 104 | * simplifying both its assembly and usage. In particular, it can be composed
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| 105 | * with any other transformations (Transform,Translation,RotationBase,DiagonalMatrix)
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| 106 | * and can be directly used to transform implicit homogeneous vectors. All these
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| 107 | * operations are handled via the operator*. For the composition of transformations,
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| 108 | * its principle consists to first convert the right/left hand sides of the product
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| 109 | * to a compatible (Dim+1)^2 matrix and then perform a pure matrix product.
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| 110 | * Of course, internally, operator* tries to perform the minimal number of operations
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| 111 | * according to the nature of each terms. Likewise, when applying the transform
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| 112 | * to points, the latters are automatically promoted to homogeneous vectors
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| 113 | * before doing the matrix product. The conventions to homogeneous representations
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| 114 | * are performed as follow:
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| 115 | *
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| 116 | * \b Translation t (Dim)x(1):
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| 117 | * \f$ \left( \begin{array}{cc}
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| 118 | * I & t \\
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| 119 | * 0\,...\,0 & 1
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| 120 | * \end{array} \right) \f$
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| 121 | *
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| 122 | * \b Rotation R (Dim)x(Dim):
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| 123 | * \f$ \left( \begin{array}{cc}
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| 124 | * R & 0\\
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| 125 | * 0\,...\,0 & 1
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| 126 | * \end{array} \right) \f$
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| 127 | *<!--
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| 128 | * \b Linear \b Matrix L (Dim)x(Dim):
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| 129 | * \f$ \left( \begin{array}{cc}
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| 130 | * L & 0\\
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| 131 | * 0\,...\,0 & 1
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| 132 | * \end{array} \right) \f$
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| 133 | *
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| 134 | * \b Affine \b Matrix A (Dim)x(Dim+1):
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| 135 | * \f$ \left( \begin{array}{c}
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| 136 | * A\\
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| 137 | * 0\,...\,0\,1
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| 138 | * \end{array} \right) \f$
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| 139 | *-->
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| 140 | * \b Scaling \b DiagonalMatrix S (Dim)x(Dim):
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| 141 | * \f$ \left( \begin{array}{cc}
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| 142 | * S & 0\\
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| 143 | * 0\,...\,0 & 1
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| 144 | * \end{array} \right) \f$
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| 145 | *
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| 146 | * \b Column \b point v (Dim)x(1):
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| 147 | * \f$ \left( \begin{array}{c}
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| 148 | * v\\
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| 149 | * 1
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| 150 | * \end{array} \right) \f$
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| 151 | *
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| 152 | * \b Set \b of \b column \b points V1...Vn (Dim)x(n):
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| 153 | * \f$ \left( \begin{array}{ccc}
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| 154 | * v_1 & ... & v_n\\
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| 155 | * 1 & ... & 1
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| 156 | * \end{array} \right) \f$
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| 157 | *
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| 158 | * The concatenation of a Transform object with any kind of other transformation
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| 159 | * always returns a Transform object.
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| 160 | *
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| 161 | * A little exception to the "as pure matrix product" rule is the case of the
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| 162 | * transformation of non homogeneous vectors by an affine transformation. In
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| 163 | * that case the last matrix row can be ignored, and the product returns non
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| 164 | * homogeneous vectors.
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| 165 | *
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| 166 | * Since, for instance, a Dim x Dim matrix is interpreted as a linear transformation,
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| 167 | * it is not possible to directly transform Dim vectors stored in a Dim x Dim matrix.
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| 168 | * The solution is either to use a Dim x Dynamic matrix or explicitly request a
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| 169 | * vector transformation by making the vector homogeneous:
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| 170 | * \code
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| 171 | * m' = T * m.colwise().homogeneous();
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| 172 | * \endcode
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| 173 | * Note that there is zero overhead.
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| 174 | *
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| 175 | * Conversion methods from/to Qt's QMatrix and QTransform are available if the
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| 176 | * preprocessor token EIGEN_QT_SUPPORT is defined.
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| 177 | *
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| 178 | * This class can be extended with the help of the plugin mechanism described on the page
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| 179 | * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
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| 180 | *
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| 181 | * \sa class Matrix, class Quaternion
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| 182 | */
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| 183 | template<typename _Scalar, int _Dim, int _Mode, int _Options>
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| 184 | class Transform
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| 185 | {
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| 186 | public:
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| 187 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
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| 188 | enum {
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| 189 | Mode = _Mode,
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| 190 | Options = _Options,
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| 191 | Dim = _Dim, ///< space dimension in which the transformation holds
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| 192 | HDim = _Dim+1, ///< size of a respective homogeneous vector
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| 193 | Rows = int(Mode)==(AffineCompact) ? Dim : HDim
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| 194 | };
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| 195 | /** the scalar type of the coefficients */
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| 196 | typedef _Scalar Scalar;
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| 197 | typedef DenseIndex Index;
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| 198 | /** type of the matrix used to represent the transformation */
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| 199 | typedef typename internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type MatrixType;
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| 200 | /** constified MatrixType */
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| 201 | typedef const MatrixType ConstMatrixType;
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| 202 | /** type of the matrix used to represent the linear part of the transformation */
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| 203 | typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType;
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| 204 | /** type of read/write reference to the linear part of the transformation */
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| 205 | typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> LinearPart;
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| 206 | /** type of read reference to the linear part of the transformation */
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| 207 | typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> ConstLinearPart;
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| 208 | /** type of read/write reference to the affine part of the transformation */
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| 209 | typedef typename internal::conditional<int(Mode)==int(AffineCompact),
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| 210 | MatrixType&,
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| 211 | Block<MatrixType,Dim,HDim> >::type AffinePart;
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| 212 | /** type of read reference to the affine part of the transformation */
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| 213 | typedef typename internal::conditional<int(Mode)==int(AffineCompact),
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| 214 | const MatrixType&,
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| 215 | const Block<const MatrixType,Dim,HDim> >::type ConstAffinePart;
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| 216 | /** type of a vector */
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| 217 | typedef Matrix<Scalar,Dim,1> VectorType;
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| 218 | /** type of a read/write reference to the translation part of the rotation */
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| 219 | typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> TranslationPart;
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| 220 | /** type of a read reference to the translation part of the rotation */
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| 221 | typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart;
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| 222 | /** corresponding translation type */
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| 223 | typedef Translation<Scalar,Dim> TranslationType;
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| 224 |
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| 225 | // this intermediate enum is needed to avoid an ICE with gcc 3.4 and 4.0
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| 226 | enum { TransformTimeDiagonalMode = ((Mode==int(Isometry))?Affine:int(Mode)) };
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| 227 | /** The return type of the product between a diagonal matrix and a transform */
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| 228 | typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> TransformTimeDiagonalReturnType;
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| 229 |
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| 230 | protected:
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| 231 |
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| 232 | MatrixType m_matrix;
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| 233 |
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| 234 | public:
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| 235 |
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| 236 | /** Default constructor without initialization of the meaningful coefficients.
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| 237 | * If Mode==Affine, then the last row is set to [0 ... 0 1] */
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| 238 | inline Transform()
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| 239 | {
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| 240 | check_template_params();
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| 241 | internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
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| 242 | }
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| 243 |
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| 244 | inline Transform(const Transform& other)
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| 245 | {
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| 246 | check_template_params();
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| 247 | m_matrix = other.m_matrix;
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| 248 | }
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| 249 |
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| 250 | inline explicit Transform(const TranslationType& t)
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| 251 | {
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| 252 | check_template_params();
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| 253 | *this = t;
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| 254 | }
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| 255 | inline explicit Transform(const UniformScaling<Scalar>& s)
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| 256 | {
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| 257 | check_template_params();
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| 258 | *this = s;
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| 259 | }
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| 260 | template<typename Derived>
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| 261 | inline explicit Transform(const RotationBase<Derived, Dim>& r)
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| 262 | {
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| 263 | check_template_params();
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| 264 | *this = r;
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| 265 | }
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| 266 |
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| 267 | inline Transform& operator=(const Transform& other)
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| 268 | { m_matrix = other.m_matrix; return *this; }
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| 269 |
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| 270 | typedef internal::transform_take_affine_part<Transform> take_affine_part;
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| 271 |
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| 272 | /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
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| 273 | template<typename OtherDerived>
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| 274 | inline explicit Transform(const EigenBase<OtherDerived>& other)
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| 275 | {
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| 276 | EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
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| 277 | YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
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| 278 |
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| 279 | check_template_params();
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| 280 | internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
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| 281 | }
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| 282 |
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| 283 | /** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
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| 284 | template<typename OtherDerived>
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| 285 | inline Transform& operator=(const EigenBase<OtherDerived>& other)
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| 286 | {
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| 287 | EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
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| 288 | YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
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| 289 |
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| 290 | internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
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| 291 | return *this;
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| 292 | }
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| 293 |
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| 294 | template<int OtherOptions>
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| 295 | inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
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| 296 | {
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| 297 | check_template_params();
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| 298 | // only the options change, we can directly copy the matrices
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| 299 | m_matrix = other.matrix();
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| 300 | }
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| 301 |
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| 302 | template<int OtherMode,int OtherOptions>
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| 303 | inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
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| 304 | {
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| 305 | check_template_params();
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| 306 | // prevent conversions as:
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| 307 | // Affine | AffineCompact | Isometry = Projective
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| 308 | EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Projective), Mode==int(Projective)),
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| 309 | YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
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| 310 |
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| 311 | // prevent conversions as:
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| 312 | // Isometry = Affine | AffineCompact
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| 313 | EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
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| 314 | YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
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| 315 |
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| 316 | enum { ModeIsAffineCompact = Mode == int(AffineCompact),
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| 317 | OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
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| 318 | };
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| 319 |
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| 320 | if(ModeIsAffineCompact == OtherModeIsAffineCompact)
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| 321 | {
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| 322 | // We need the block expression because the code is compiled for all
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| 323 | // combinations of transformations and will trigger a compile time error
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| 324 | // if one tries to assign the matrices directly
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| 325 | m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
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| 326 | makeAffine();
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| 327 | }
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| 328 | else if(OtherModeIsAffineCompact)
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| 329 | {
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| 330 | typedef typename Transform<Scalar,Dim,OtherMode,OtherOptions>::MatrixType OtherMatrixType;
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| 331 | internal::transform_construct_from_matrix<OtherMatrixType,Mode,Options,Dim,HDim>::run(this, other.matrix());
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| 332 | }
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| 333 | else
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| 334 | {
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| 335 | // here we know that Mode == AffineCompact and OtherMode != AffineCompact.
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| 336 | // if OtherMode were Projective, the static assert above would already have caught it.
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| 337 | // So the only possibility is that OtherMode == Affine
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| 338 | linear() = other.linear();
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| 339 | translation() = other.translation();
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| 340 | }
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| 341 | }
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| 342 |
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| 343 | template<typename OtherDerived>
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| 344 | Transform(const ReturnByValue<OtherDerived>& other)
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| 345 | {
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| 346 | check_template_params();
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| 347 | other.evalTo(*this);
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| 348 | }
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| 349 |
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| 350 | template<typename OtherDerived>
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| 351 | Transform& operator=(const ReturnByValue<OtherDerived>& other)
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| 352 | {
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| 353 | other.evalTo(*this);
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| 354 | return *this;
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| 355 | }
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| 356 |
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| 357 | #ifdef EIGEN_QT_SUPPORT
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| 358 | inline Transform(const QMatrix& other);
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| 359 | inline Transform& operator=(const QMatrix& other);
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| 360 | inline QMatrix toQMatrix(void) const;
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| 361 | inline Transform(const QTransform& other);
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| 362 | inline Transform& operator=(const QTransform& other);
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| 363 | inline QTransform toQTransform(void) const;
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| 364 | #endif
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| 365 |
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| 366 | /** shortcut for m_matrix(row,col);
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| 367 | * \sa MatrixBase::operator(Index,Index) const */
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| 368 | inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
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| 369 | /** shortcut for m_matrix(row,col);
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| 370 | * \sa MatrixBase::operator(Index,Index) */
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| 371 | inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
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| 372 |
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| 373 | /** \returns a read-only expression of the transformation matrix */
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| 374 | inline const MatrixType& matrix() const { return m_matrix; }
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| 375 | /** \returns a writable expression of the transformation matrix */
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| 376 | inline MatrixType& matrix() { return m_matrix; }
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| 377 |
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| 378 | /** \returns a read-only expression of the linear part of the transformation */
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| 379 | inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
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| 380 | /** \returns a writable expression of the linear part of the transformation */
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| 381 | inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
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| 382 |
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| 383 | /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
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| 384 | inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
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| 385 | /** \returns a writable expression of the Dim x HDim affine part of the transformation */
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| 386 | inline AffinePart affine() { return take_affine_part::run(m_matrix); }
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| 387 |
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| 388 | /** \returns a read-only expression of the translation vector of the transformation */
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| 389 | inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
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| 390 | /** \returns a writable expression of the translation vector of the transformation */
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| 391 | inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
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| 392 |
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| 393 | /** \returns an expression of the product between the transform \c *this and a matrix expression \a other.
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| 394 | *
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| 395 | * The right-hand-side \a other can be either:
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---|
| 396 | * \li an homogeneous vector of size Dim+1,
|
---|
| 397 | * \li a set of homogeneous vectors of size Dim+1 x N,
|
---|
| 398 | * \li a transformation matrix of size Dim+1 x Dim+1.
|
---|
| 399 | *
|
---|
| 400 | * Moreover, if \c *this represents an affine transformation (i.e., Mode!=Projective), then \a other can also be:
|
---|
| 401 | * \li a point of size Dim (computes: \code this->linear() * other + this->translation()\endcode),
|
---|
| 402 | * \li a set of N points as a Dim x N matrix (computes: \code (this->linear() * other).colwise() + this->translation()\endcode),
|
---|
| 403 | *
|
---|
| 404 | * In all cases, the return type is a matrix or vector of same sizes as the right-hand-side \a other.
|
---|
| 405 | *
|
---|
| 406 | * If you want to interpret \a other as a linear or affine transformation, then first convert it to a Transform<> type,
|
---|
| 407 | * or do your own cooking.
|
---|
| 408 | *
|
---|
| 409 | * Finally, if you want to apply Affine transformations to vectors, then explicitly apply the linear part only:
|
---|
| 410 | * \code
|
---|
| 411 | * Affine3f A;
|
---|
| 412 | * Vector3f v1, v2;
|
---|
| 413 | * v2 = A.linear() * v1;
|
---|
| 414 | * \endcode
|
---|
| 415 | *
|
---|
| 416 | */
|
---|
| 417 | // note: this function is defined here because some compilers cannot find the respective declaration
|
---|
| 418 | template<typename OtherDerived>
|
---|
| 419 | EIGEN_STRONG_INLINE const typename OtherDerived::PlainObject
|
---|
| 420 | operator * (const EigenBase<OtherDerived> &other) const
|
---|
| 421 | { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
|
---|
| 422 |
|
---|
| 423 | /** \returns the product expression of a transformation matrix \a a times a transform \a b
|
---|
| 424 | *
|
---|
| 425 | * The left hand side \a other can be either:
|
---|
| 426 | * \li a linear transformation matrix of size Dim x Dim,
|
---|
| 427 | * \li an affine transformation matrix of size Dim x Dim+1,
|
---|
| 428 | * \li a general transformation matrix of size Dim+1 x Dim+1.
|
---|
| 429 | */
|
---|
| 430 | template<typename OtherDerived> friend
|
---|
| 431 | inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
|
---|
| 432 | operator * (const EigenBase<OtherDerived> &a, const Transform &b)
|
---|
| 433 | { return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
|
---|
| 434 |
|
---|
| 435 | /** \returns The product expression of a transform \a a times a diagonal matrix \a b
|
---|
| 436 | *
|
---|
| 437 | * The rhs diagonal matrix is interpreted as an affine scaling transformation. The
|
---|
| 438 | * product results in a Transform of the same type (mode) as the lhs only if the lhs
|
---|
| 439 | * mode is no isometry. In that case, the returned transform is an affinity.
|
---|
| 440 | */
|
---|
| 441 | template<typename DiagonalDerived>
|
---|
| 442 | inline const TransformTimeDiagonalReturnType
|
---|
| 443 | operator * (const DiagonalBase<DiagonalDerived> &b) const
|
---|
| 444 | {
|
---|
| 445 | TransformTimeDiagonalReturnType res(*this);
|
---|
| 446 | res.linear() *= b;
|
---|
| 447 | return res;
|
---|
| 448 | }
|
---|
| 449 |
|
---|
| 450 | /** \returns The product expression of a diagonal matrix \a a times a transform \a b
|
---|
| 451 | *
|
---|
| 452 | * The lhs diagonal matrix is interpreted as an affine scaling transformation. The
|
---|
| 453 | * product results in a Transform of the same type (mode) as the lhs only if the lhs
|
---|
| 454 | * mode is no isometry. In that case, the returned transform is an affinity.
|
---|
| 455 | */
|
---|
| 456 | template<typename DiagonalDerived>
|
---|
| 457 | friend inline TransformTimeDiagonalReturnType
|
---|
| 458 | operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
|
---|
| 459 | {
|
---|
| 460 | TransformTimeDiagonalReturnType res;
|
---|
| 461 | res.linear().noalias() = a*b.linear();
|
---|
| 462 | res.translation().noalias() = a*b.translation();
|
---|
| 463 | if (Mode!=int(AffineCompact))
|
---|
| 464 | res.matrix().row(Dim) = b.matrix().row(Dim);
|
---|
| 465 | return res;
|
---|
| 466 | }
|
---|
| 467 |
|
---|
| 468 | template<typename OtherDerived>
|
---|
| 469 | inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
|
---|
| 470 |
|
---|
| 471 | /** Concatenates two transformations */
|
---|
| 472 | inline const Transform operator * (const Transform& other) const
|
---|
| 473 | {
|
---|
| 474 | return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
|
---|
| 475 | }
|
---|
| 476 |
|
---|
| 477 | #ifdef __INTEL_COMPILER
|
---|
| 478 | private:
|
---|
| 479 | // this intermediate structure permits to workaround a bug in ICC 11:
|
---|
| 480 | // error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0>
|
---|
| 481 | // (const Eigen::Transform<double, 3, 2, 0> &) const"
|
---|
| 482 | // (the meaning of a name may have changed since the template declaration -- the type of the template is:
|
---|
| 483 | // "Eigen::internal::transform_transform_product_impl<Eigen::Transform<double, 3, 32, 0>,
|
---|
| 484 | // Eigen::Transform<double, 3, Mode, Options>, <expression>>::ResultType (const Eigen::Transform<double, 3, Mode, Options> &) const")
|
---|
| 485 | //
|
---|
| 486 | template<int OtherMode,int OtherOptions> struct icc_11_workaround
|
---|
| 487 | {
|
---|
| 488 | typedef internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> > ProductType;
|
---|
| 489 | typedef typename ProductType::ResultType ResultType;
|
---|
| 490 | };
|
---|
| 491 |
|
---|
| 492 | public:
|
---|
| 493 | /** Concatenates two different transformations */
|
---|
| 494 | template<int OtherMode,int OtherOptions>
|
---|
| 495 | inline typename icc_11_workaround<OtherMode,OtherOptions>::ResultType
|
---|
| 496 | operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
|
---|
| 497 | {
|
---|
| 498 | typedef typename icc_11_workaround<OtherMode,OtherOptions>::ProductType ProductType;
|
---|
| 499 | return ProductType::run(*this,other);
|
---|
| 500 | }
|
---|
| 501 | #else
|
---|
| 502 | /** Concatenates two different transformations */
|
---|
| 503 | template<int OtherMode,int OtherOptions>
|
---|
| 504 | inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
|
---|
| 505 | operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
|
---|
| 506 | {
|
---|
| 507 | return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
|
---|
| 508 | }
|
---|
| 509 | #endif
|
---|
| 510 |
|
---|
| 511 | /** \sa MatrixBase::setIdentity() */
|
---|
| 512 | void setIdentity() { m_matrix.setIdentity(); }
|
---|
| 513 |
|
---|
| 514 | /**
|
---|
| 515 | * \brief Returns an identity transformation.
|
---|
| 516 | * \todo In the future this function should be returning a Transform expression.
|
---|
| 517 | */
|
---|
| 518 | static const Transform Identity()
|
---|
| 519 | {
|
---|
| 520 | return Transform(MatrixType::Identity());
|
---|
| 521 | }
|
---|
| 522 |
|
---|
| 523 | template<typename OtherDerived>
|
---|
| 524 | inline Transform& scale(const MatrixBase<OtherDerived> &other);
|
---|
| 525 |
|
---|
| 526 | template<typename OtherDerived>
|
---|
| 527 | inline Transform& prescale(const MatrixBase<OtherDerived> &other);
|
---|
| 528 |
|
---|
| 529 | inline Transform& scale(const Scalar& s);
|
---|
| 530 | inline Transform& prescale(const Scalar& s);
|
---|
| 531 |
|
---|
| 532 | template<typename OtherDerived>
|
---|
| 533 | inline Transform& translate(const MatrixBase<OtherDerived> &other);
|
---|
| 534 |
|
---|
| 535 | template<typename OtherDerived>
|
---|
| 536 | inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
|
---|
| 537 |
|
---|
| 538 | template<typename RotationType>
|
---|
| 539 | inline Transform& rotate(const RotationType& rotation);
|
---|
| 540 |
|
---|
| 541 | template<typename RotationType>
|
---|
| 542 | inline Transform& prerotate(const RotationType& rotation);
|
---|
| 543 |
|
---|
| 544 | Transform& shear(const Scalar& sx, const Scalar& sy);
|
---|
| 545 | Transform& preshear(const Scalar& sx, const Scalar& sy);
|
---|
| 546 |
|
---|
| 547 | inline Transform& operator=(const TranslationType& t);
|
---|
| 548 | inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
|
---|
| 549 | inline Transform operator*(const TranslationType& t) const;
|
---|
| 550 |
|
---|
| 551 | inline Transform& operator=(const UniformScaling<Scalar>& t);
|
---|
| 552 | inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
|
---|
| 553 | inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?int(Affine):int(Mode))> operator*(const UniformScaling<Scalar>& s) const
|
---|
| 554 | {
|
---|
| 555 | Transform<Scalar,Dim,(int(Mode)==int(Isometry)?int(Affine):int(Mode)),Options> res = *this;
|
---|
| 556 | res.scale(s.factor());
|
---|
| 557 | return res;
|
---|
| 558 | }
|
---|
| 559 |
|
---|
| 560 | inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
|
---|
| 561 |
|
---|
| 562 | template<typename Derived>
|
---|
| 563 | inline Transform& operator=(const RotationBase<Derived,Dim>& r);
|
---|
| 564 | template<typename Derived>
|
---|
| 565 | inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
|
---|
| 566 | template<typename Derived>
|
---|
| 567 | inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
|
---|
| 568 |
|
---|
| 569 | const LinearMatrixType rotation() const;
|
---|
| 570 | template<typename RotationMatrixType, typename ScalingMatrixType>
|
---|
| 571 | void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
|
---|
| 572 | template<typename ScalingMatrixType, typename RotationMatrixType>
|
---|
| 573 | void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
|
---|
| 574 |
|
---|
| 575 | template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
|
---|
| 576 | Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
|
---|
| 577 | const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
|
---|
| 578 |
|
---|
| 579 | inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
|
---|
| 580 |
|
---|
| 581 | /** \returns a const pointer to the column major internal matrix */
|
---|
| 582 | const Scalar* data() const { return m_matrix.data(); }
|
---|
| 583 | /** \returns a non-const pointer to the column major internal matrix */
|
---|
| 584 | Scalar* data() { return m_matrix.data(); }
|
---|
| 585 |
|
---|
| 586 | /** \returns \c *this with scalar type casted to \a NewScalarType
|
---|
| 587 | *
|
---|
| 588 | * Note that if \a NewScalarType is equal to the current scalar type of \c *this
|
---|
| 589 | * then this function smartly returns a const reference to \c *this.
|
---|
| 590 | */
|
---|
| 591 | template<typename NewScalarType>
|
---|
| 592 | inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
|
---|
| 593 | { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
|
---|
| 594 |
|
---|
| 595 | /** Copy constructor with scalar type conversion */
|
---|
| 596 | template<typename OtherScalarType>
|
---|
| 597 | inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
|
---|
| 598 | {
|
---|
| 599 | check_template_params();
|
---|
| 600 | m_matrix = other.matrix().template cast<Scalar>();
|
---|
| 601 | }
|
---|
| 602 |
|
---|
| 603 | /** \returns \c true if \c *this is approximately equal to \a other, within the precision
|
---|
| 604 | * determined by \a prec.
|
---|
| 605 | *
|
---|
| 606 | * \sa MatrixBase::isApprox() */
|
---|
| 607 | bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
|
---|
| 608 | { return m_matrix.isApprox(other.m_matrix, prec); }
|
---|
| 609 |
|
---|
| 610 | /** Sets the last row to [0 ... 0 1]
|
---|
| 611 | */
|
---|
| 612 | void makeAffine()
|
---|
| 613 | {
|
---|
| 614 | internal::transform_make_affine<int(Mode)>::run(m_matrix);
|
---|
| 615 | }
|
---|
| 616 |
|
---|
| 617 | /** \internal
|
---|
| 618 | * \returns the Dim x Dim linear part if the transformation is affine,
|
---|
| 619 | * and the HDim x Dim part for projective transformations.
|
---|
| 620 | */
|
---|
| 621 | inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
|
---|
| 622 | { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
|
---|
| 623 | /** \internal
|
---|
| 624 | * \returns the Dim x Dim linear part if the transformation is affine,
|
---|
| 625 | * and the HDim x Dim part for projective transformations.
|
---|
| 626 | */
|
---|
| 627 | inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
|
---|
| 628 | { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
|
---|
| 629 |
|
---|
| 630 | /** \internal
|
---|
| 631 | * \returns the translation part if the transformation is affine,
|
---|
| 632 | * and the last column for projective transformations.
|
---|
| 633 | */
|
---|
| 634 | inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
|
---|
| 635 | { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
|
---|
| 636 | /** \internal
|
---|
| 637 | * \returns the translation part if the transformation is affine,
|
---|
| 638 | * and the last column for projective transformations.
|
---|
| 639 | */
|
---|
| 640 | inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
|
---|
| 641 | { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
|
---|
| 642 |
|
---|
| 643 |
|
---|
| 644 | #ifdef EIGEN_TRANSFORM_PLUGIN
|
---|
| 645 | #include EIGEN_TRANSFORM_PLUGIN
|
---|
| 646 | #endif
|
---|
| 647 |
|
---|
| 648 | protected:
|
---|
| 649 | #ifndef EIGEN_PARSED_BY_DOXYGEN
|
---|
| 650 | static EIGEN_STRONG_INLINE void check_template_params()
|
---|
| 651 | {
|
---|
| 652 | EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
|
---|
| 653 | }
|
---|
| 654 | #endif
|
---|
| 655 |
|
---|
| 656 | };
|
---|
| 657 |
|
---|
| 658 | /** \ingroup Geometry_Module */
|
---|
| 659 | typedef Transform<float,2,Isometry> Isometry2f;
|
---|
| 660 | /** \ingroup Geometry_Module */
|
---|
| 661 | typedef Transform<float,3,Isometry> Isometry3f;
|
---|
| 662 | /** \ingroup Geometry_Module */
|
---|
| 663 | typedef Transform<double,2,Isometry> Isometry2d;
|
---|
| 664 | /** \ingroup Geometry_Module */
|
---|
| 665 | typedef Transform<double,3,Isometry> Isometry3d;
|
---|
| 666 |
|
---|
| 667 | /** \ingroup Geometry_Module */
|
---|
| 668 | typedef Transform<float,2,Affine> Affine2f;
|
---|
| 669 | /** \ingroup Geometry_Module */
|
---|
| 670 | typedef Transform<float,3,Affine> Affine3f;
|
---|
| 671 | /** \ingroup Geometry_Module */
|
---|
| 672 | typedef Transform<double,2,Affine> Affine2d;
|
---|
| 673 | /** \ingroup Geometry_Module */
|
---|
| 674 | typedef Transform<double,3,Affine> Affine3d;
|
---|
| 675 |
|
---|
| 676 | /** \ingroup Geometry_Module */
|
---|
| 677 | typedef Transform<float,2,AffineCompact> AffineCompact2f;
|
---|
| 678 | /** \ingroup Geometry_Module */
|
---|
| 679 | typedef Transform<float,3,AffineCompact> AffineCompact3f;
|
---|
| 680 | /** \ingroup Geometry_Module */
|
---|
| 681 | typedef Transform<double,2,AffineCompact> AffineCompact2d;
|
---|
| 682 | /** \ingroup Geometry_Module */
|
---|
| 683 | typedef Transform<double,3,AffineCompact> AffineCompact3d;
|
---|
| 684 |
|
---|
| 685 | /** \ingroup Geometry_Module */
|
---|
| 686 | typedef Transform<float,2,Projective> Projective2f;
|
---|
| 687 | /** \ingroup Geometry_Module */
|
---|
| 688 | typedef Transform<float,3,Projective> Projective3f;
|
---|
| 689 | /** \ingroup Geometry_Module */
|
---|
| 690 | typedef Transform<double,2,Projective> Projective2d;
|
---|
| 691 | /** \ingroup Geometry_Module */
|
---|
| 692 | typedef Transform<double,3,Projective> Projective3d;
|
---|
| 693 |
|
---|
| 694 | /**************************
|
---|
| 695 | *** Optional QT support ***
|
---|
| 696 | **************************/
|
---|
| 697 |
|
---|
| 698 | #ifdef EIGEN_QT_SUPPORT
|
---|
| 699 | /** Initializes \c *this from a QMatrix assuming the dimension is 2.
|
---|
| 700 | *
|
---|
| 701 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
| 702 | */
|
---|
| 703 | template<typename Scalar, int Dim, int Mode,int Options>
|
---|
| 704 | Transform<Scalar,Dim,Mode,Options>::Transform(const QMatrix& other)
|
---|
| 705 | {
|
---|
| 706 | check_template_params();
|
---|
| 707 | *this = other;
|
---|
| 708 | }
|
---|
| 709 |
|
---|
| 710 | /** Set \c *this from a QMatrix assuming the dimension is 2.
|
---|
| 711 | *
|
---|
| 712 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
| 713 | */
|
---|
| 714 | template<typename Scalar, int Dim, int Mode,int Options>
|
---|
| 715 | Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
|
---|
| 716 | {
|
---|
| 717 | EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
| 718 | m_matrix << other.m11(), other.m21(), other.dx(),
|
---|
| 719 | other.m12(), other.m22(), other.dy(),
|
---|
| 720 | 0, 0, 1;
|
---|
| 721 | return *this;
|
---|
| 722 | }
|
---|
| 723 |
|
---|
| 724 | /** \returns a QMatrix from \c *this assuming the dimension is 2.
|
---|
| 725 | *
|
---|
| 726 | * \warning this conversion might loss data if \c *this is not affine
|
---|
| 727 | *
|
---|
| 728 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
| 729 | */
|
---|
| 730 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 731 | QMatrix Transform<Scalar,Dim,Mode,Options>::toQMatrix(void) const
|
---|
| 732 | {
|
---|
| 733 | check_template_params();
|
---|
| 734 | EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
| 735 | return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
|
---|
| 736 | m_matrix.coeff(0,1), m_matrix.coeff(1,1),
|
---|
| 737 | m_matrix.coeff(0,2), m_matrix.coeff(1,2));
|
---|
| 738 | }
|
---|
| 739 |
|
---|
| 740 | /** Initializes \c *this from a QTransform assuming the dimension is 2.
|
---|
| 741 | *
|
---|
| 742 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
| 743 | */
|
---|
| 744 | template<typename Scalar, int Dim, int Mode,int Options>
|
---|
| 745 | Transform<Scalar,Dim,Mode,Options>::Transform(const QTransform& other)
|
---|
| 746 | {
|
---|
| 747 | check_template_params();
|
---|
| 748 | *this = other;
|
---|
| 749 | }
|
---|
| 750 |
|
---|
| 751 | /** Set \c *this from a QTransform assuming the dimension is 2.
|
---|
| 752 | *
|
---|
| 753 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
| 754 | */
|
---|
| 755 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 756 | Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QTransform& other)
|
---|
| 757 | {
|
---|
| 758 | check_template_params();
|
---|
| 759 | EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
| 760 | if (Mode == int(AffineCompact))
|
---|
| 761 | m_matrix << other.m11(), other.m21(), other.dx(),
|
---|
| 762 | other.m12(), other.m22(), other.dy();
|
---|
| 763 | else
|
---|
| 764 | m_matrix << other.m11(), other.m21(), other.dx(),
|
---|
| 765 | other.m12(), other.m22(), other.dy(),
|
---|
| 766 | other.m13(), other.m23(), other.m33();
|
---|
| 767 | return *this;
|
---|
| 768 | }
|
---|
| 769 |
|
---|
| 770 | /** \returns a QTransform from \c *this assuming the dimension is 2.
|
---|
| 771 | *
|
---|
| 772 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
| 773 | */
|
---|
| 774 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 775 | QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
|
---|
| 776 | {
|
---|
| 777 | EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
| 778 | if (Mode == int(AffineCompact))
|
---|
| 779 | return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
|
---|
| 780 | m_matrix.coeff(0,1), m_matrix.coeff(1,1),
|
---|
| 781 | m_matrix.coeff(0,2), m_matrix.coeff(1,2));
|
---|
| 782 | else
|
---|
| 783 | return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0), m_matrix.coeff(2,0),
|
---|
| 784 | m_matrix.coeff(0,1), m_matrix.coeff(1,1), m_matrix.coeff(2,1),
|
---|
| 785 | m_matrix.coeff(0,2), m_matrix.coeff(1,2), m_matrix.coeff(2,2));
|
---|
| 786 | }
|
---|
| 787 | #endif
|
---|
| 788 |
|
---|
| 789 | /*********************
|
---|
| 790 | *** Procedural API ***
|
---|
| 791 | *********************/
|
---|
| 792 |
|
---|
| 793 | /** Applies on the right the non uniform scale transformation represented
|
---|
| 794 | * by the vector \a other to \c *this and returns a reference to \c *this.
|
---|
| 795 | * \sa prescale()
|
---|
| 796 | */
|
---|
| 797 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 798 | template<typename OtherDerived>
|
---|
| 799 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 800 | Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
|
---|
| 801 | {
|
---|
| 802 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
|
---|
| 803 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
| 804 | linearExt().noalias() = (linearExt() * other.asDiagonal());
|
---|
| 805 | return *this;
|
---|
| 806 | }
|
---|
| 807 |
|
---|
| 808 | /** Applies on the right a uniform scale of a factor \a c to \c *this
|
---|
| 809 | * and returns a reference to \c *this.
|
---|
| 810 | * \sa prescale(Scalar)
|
---|
| 811 | */
|
---|
| 812 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 813 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
|
---|
| 814 | {
|
---|
| 815 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
| 816 | linearExt() *= s;
|
---|
| 817 | return *this;
|
---|
| 818 | }
|
---|
| 819 |
|
---|
| 820 | /** Applies on the left the non uniform scale transformation represented
|
---|
| 821 | * by the vector \a other to \c *this and returns a reference to \c *this.
|
---|
| 822 | * \sa scale()
|
---|
| 823 | */
|
---|
| 824 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 825 | template<typename OtherDerived>
|
---|
| 826 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 827 | Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
|
---|
| 828 | {
|
---|
| 829 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
|
---|
| 830 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
| 831 | m_matrix.template block<Dim,HDim>(0,0).noalias() = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0));
|
---|
| 832 | return *this;
|
---|
| 833 | }
|
---|
| 834 |
|
---|
| 835 | /** Applies on the left a uniform scale of a factor \a c to \c *this
|
---|
| 836 | * and returns a reference to \c *this.
|
---|
| 837 | * \sa scale(Scalar)
|
---|
| 838 | */
|
---|
| 839 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 840 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
|
---|
| 841 | {
|
---|
| 842 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
| 843 | m_matrix.template topRows<Dim>() *= s;
|
---|
| 844 | return *this;
|
---|
| 845 | }
|
---|
| 846 |
|
---|
| 847 | /** Applies on the right the translation matrix represented by the vector \a other
|
---|
| 848 | * to \c *this and returns a reference to \c *this.
|
---|
| 849 | * \sa pretranslate()
|
---|
| 850 | */
|
---|
| 851 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 852 | template<typename OtherDerived>
|
---|
| 853 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 854 | Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
|
---|
| 855 | {
|
---|
| 856 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
|
---|
| 857 | translationExt() += linearExt() * other;
|
---|
| 858 | return *this;
|
---|
| 859 | }
|
---|
| 860 |
|
---|
| 861 | /** Applies on the left the translation matrix represented by the vector \a other
|
---|
| 862 | * to \c *this and returns a reference to \c *this.
|
---|
| 863 | * \sa translate()
|
---|
| 864 | */
|
---|
| 865 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 866 | template<typename OtherDerived>
|
---|
| 867 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 868 | Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
|
---|
| 869 | {
|
---|
| 870 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
|
---|
| 871 | if(int(Mode)==int(Projective))
|
---|
| 872 | affine() += other * m_matrix.row(Dim);
|
---|
| 873 | else
|
---|
| 874 | translation() += other;
|
---|
| 875 | return *this;
|
---|
| 876 | }
|
---|
| 877 |
|
---|
| 878 | /** Applies on the right the rotation represented by the rotation \a rotation
|
---|
| 879 | * to \c *this and returns a reference to \c *this.
|
---|
| 880 | *
|
---|
| 881 | * The template parameter \a RotationType is the type of the rotation which
|
---|
| 882 | * must be known by internal::toRotationMatrix<>.
|
---|
| 883 | *
|
---|
| 884 | * Natively supported types includes:
|
---|
| 885 | * - any scalar (2D),
|
---|
| 886 | * - a Dim x Dim matrix expression,
|
---|
| 887 | * - a Quaternion (3D),
|
---|
| 888 | * - a AngleAxis (3D)
|
---|
| 889 | *
|
---|
| 890 | * This mechanism is easily extendable to support user types such as Euler angles,
|
---|
| 891 | * or a pair of Quaternion for 4D rotations.
|
---|
| 892 | *
|
---|
| 893 | * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
|
---|
| 894 | */
|
---|
| 895 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 896 | template<typename RotationType>
|
---|
| 897 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 898 | Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
|
---|
| 899 | {
|
---|
| 900 | linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
|
---|
| 901 | return *this;
|
---|
| 902 | }
|
---|
| 903 |
|
---|
| 904 | /** Applies on the left the rotation represented by the rotation \a rotation
|
---|
| 905 | * to \c *this and returns a reference to \c *this.
|
---|
| 906 | *
|
---|
| 907 | * See rotate() for further details.
|
---|
| 908 | *
|
---|
| 909 | * \sa rotate()
|
---|
| 910 | */
|
---|
| 911 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 912 | template<typename RotationType>
|
---|
| 913 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 914 | Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
|
---|
| 915 | {
|
---|
| 916 | m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
|
---|
| 917 | * m_matrix.template block<Dim,HDim>(0,0);
|
---|
| 918 | return *this;
|
---|
| 919 | }
|
---|
| 920 |
|
---|
| 921 | /** Applies on the right the shear transformation represented
|
---|
| 922 | * by the vector \a other to \c *this and returns a reference to \c *this.
|
---|
| 923 | * \warning 2D only.
|
---|
| 924 | * \sa preshear()
|
---|
| 925 | */
|
---|
| 926 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 927 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 928 | Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
|
---|
| 929 | {
|
---|
| 930 | EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
| 931 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
| 932 | VectorType tmp = linear().col(0)*sy + linear().col(1);
|
---|
| 933 | linear() << linear().col(0) + linear().col(1)*sx, tmp;
|
---|
| 934 | return *this;
|
---|
| 935 | }
|
---|
| 936 |
|
---|
| 937 | /** Applies on the left the shear transformation represented
|
---|
| 938 | * by the vector \a other to \c *this and returns a reference to \c *this.
|
---|
| 939 | * \warning 2D only.
|
---|
| 940 | * \sa shear()
|
---|
| 941 | */
|
---|
| 942 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 943 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 944 | Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
|
---|
| 945 | {
|
---|
| 946 | EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
| 947 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
| 948 | m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
|
---|
| 949 | return *this;
|
---|
| 950 | }
|
---|
| 951 |
|
---|
| 952 | /******************************************************
|
---|
| 953 | *** Scaling, Translation and Rotation compatibility ***
|
---|
| 954 | ******************************************************/
|
---|
| 955 |
|
---|
| 956 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 957 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
|
---|
| 958 | {
|
---|
| 959 | linear().setIdentity();
|
---|
| 960 | translation() = t.vector();
|
---|
| 961 | makeAffine();
|
---|
| 962 | return *this;
|
---|
| 963 | }
|
---|
| 964 |
|
---|
| 965 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 966 | inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
|
---|
| 967 | {
|
---|
| 968 | Transform res = *this;
|
---|
| 969 | res.translate(t.vector());
|
---|
| 970 | return res;
|
---|
| 971 | }
|
---|
| 972 |
|
---|
| 973 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 974 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
|
---|
| 975 | {
|
---|
| 976 | m_matrix.setZero();
|
---|
| 977 | linear().diagonal().fill(s.factor());
|
---|
| 978 | makeAffine();
|
---|
| 979 | return *this;
|
---|
| 980 | }
|
---|
| 981 |
|
---|
| 982 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 983 | template<typename Derived>
|
---|
| 984 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
|
---|
| 985 | {
|
---|
| 986 | linear() = internal::toRotationMatrix<Scalar,Dim>(r);
|
---|
| 987 | translation().setZero();
|
---|
| 988 | makeAffine();
|
---|
| 989 | return *this;
|
---|
| 990 | }
|
---|
| 991 |
|
---|
| 992 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 993 | template<typename Derived>
|
---|
| 994 | inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
|
---|
| 995 | {
|
---|
| 996 | Transform res = *this;
|
---|
| 997 | res.rotate(r.derived());
|
---|
| 998 | return res;
|
---|
| 999 | }
|
---|
| 1000 |
|
---|
| 1001 | /************************
|
---|
| 1002 | *** Special functions ***
|
---|
| 1003 | ************************/
|
---|
| 1004 |
|
---|
| 1005 | /** \returns the rotation part of the transformation
|
---|
| 1006 | *
|
---|
| 1007 | *
|
---|
| 1008 | * \svd_module
|
---|
| 1009 | *
|
---|
| 1010 | * \sa computeRotationScaling(), computeScalingRotation(), class SVD
|
---|
| 1011 | */
|
---|
| 1012 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 1013 | const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
|
---|
| 1014 | Transform<Scalar,Dim,Mode,Options>::rotation() const
|
---|
| 1015 | {
|
---|
| 1016 | LinearMatrixType result;
|
---|
| 1017 | computeRotationScaling(&result, (LinearMatrixType*)0);
|
---|
| 1018 | return result;
|
---|
| 1019 | }
|
---|
| 1020 |
|
---|
| 1021 |
|
---|
| 1022 | /** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
|
---|
| 1023 | * not necessarily positive.
|
---|
| 1024 | *
|
---|
| 1025 | * If either pointer is zero, the corresponding computation is skipped.
|
---|
| 1026 | *
|
---|
| 1027 | *
|
---|
| 1028 | *
|
---|
| 1029 | * \svd_module
|
---|
| 1030 | *
|
---|
| 1031 | * \sa computeScalingRotation(), rotation(), class SVD
|
---|
| 1032 | */
|
---|
| 1033 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 1034 | template<typename RotationMatrixType, typename ScalingMatrixType>
|
---|
| 1035 | void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
|
---|
| 1036 | {
|
---|
| 1037 | JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
|
---|
| 1038 |
|
---|
| 1039 | Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
|
---|
| 1040 | VectorType sv(svd.singularValues());
|
---|
| 1041 | sv.coeffRef(0) *= x;
|
---|
| 1042 | if(scaling) scaling->lazyAssign(svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint());
|
---|
| 1043 | if(rotation)
|
---|
| 1044 | {
|
---|
| 1045 | LinearMatrixType m(svd.matrixU());
|
---|
| 1046 | m.col(0) /= x;
|
---|
| 1047 | rotation->lazyAssign(m * svd.matrixV().adjoint());
|
---|
| 1048 | }
|
---|
| 1049 | }
|
---|
| 1050 |
|
---|
| 1051 | /** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
|
---|
| 1052 | * not necessarily positive.
|
---|
| 1053 | *
|
---|
| 1054 | * If either pointer is zero, the corresponding computation is skipped.
|
---|
| 1055 | *
|
---|
| 1056 | *
|
---|
| 1057 | *
|
---|
| 1058 | * \svd_module
|
---|
| 1059 | *
|
---|
| 1060 | * \sa computeRotationScaling(), rotation(), class SVD
|
---|
| 1061 | */
|
---|
| 1062 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 1063 | template<typename ScalingMatrixType, typename RotationMatrixType>
|
---|
| 1064 | void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
|
---|
| 1065 | {
|
---|
| 1066 | JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
|
---|
| 1067 |
|
---|
| 1068 | Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
|
---|
| 1069 | VectorType sv(svd.singularValues());
|
---|
| 1070 | sv.coeffRef(0) *= x;
|
---|
| 1071 | if(scaling) scaling->lazyAssign(svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint());
|
---|
| 1072 | if(rotation)
|
---|
| 1073 | {
|
---|
| 1074 | LinearMatrixType m(svd.matrixU());
|
---|
| 1075 | m.col(0) /= x;
|
---|
| 1076 | rotation->lazyAssign(m * svd.matrixV().adjoint());
|
---|
| 1077 | }
|
---|
| 1078 | }
|
---|
| 1079 |
|
---|
| 1080 | /** Convenient method to set \c *this from a position, orientation and scale
|
---|
| 1081 | * of a 3D object.
|
---|
| 1082 | */
|
---|
| 1083 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 1084 | template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
|
---|
| 1085 | Transform<Scalar,Dim,Mode,Options>&
|
---|
| 1086 | Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
|
---|
| 1087 | const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
|
---|
| 1088 | {
|
---|
| 1089 | linear() = internal::toRotationMatrix<Scalar,Dim>(orientation);
|
---|
| 1090 | linear() *= scale.asDiagonal();
|
---|
| 1091 | translation() = position;
|
---|
| 1092 | makeAffine();
|
---|
| 1093 | return *this;
|
---|
| 1094 | }
|
---|
| 1095 |
|
---|
| 1096 | namespace internal {
|
---|
| 1097 |
|
---|
| 1098 | template<int Mode>
|
---|
| 1099 | struct transform_make_affine
|
---|
| 1100 | {
|
---|
| 1101 | template<typename MatrixType>
|
---|
| 1102 | static void run(MatrixType &mat)
|
---|
| 1103 | {
|
---|
| 1104 | static const int Dim = MatrixType::ColsAtCompileTime-1;
|
---|
| 1105 | mat.template block<1,Dim>(Dim,0).setZero();
|
---|
| 1106 | mat.coeffRef(Dim,Dim) = typename MatrixType::Scalar(1);
|
---|
| 1107 | }
|
---|
| 1108 | };
|
---|
| 1109 |
|
---|
| 1110 | template<>
|
---|
| 1111 | struct transform_make_affine<AffineCompact>
|
---|
| 1112 | {
|
---|
| 1113 | template<typename MatrixType> static void run(MatrixType &) { }
|
---|
| 1114 | };
|
---|
| 1115 |
|
---|
| 1116 | // selector needed to avoid taking the inverse of a 3x4 matrix
|
---|
| 1117 | template<typename TransformType, int Mode=TransformType::Mode>
|
---|
| 1118 | struct projective_transform_inverse
|
---|
| 1119 | {
|
---|
| 1120 | static inline void run(const TransformType&, TransformType&)
|
---|
| 1121 | {}
|
---|
| 1122 | };
|
---|
| 1123 |
|
---|
| 1124 | template<typename TransformType>
|
---|
| 1125 | struct projective_transform_inverse<TransformType, Projective>
|
---|
| 1126 | {
|
---|
| 1127 | static inline void run(const TransformType& m, TransformType& res)
|
---|
| 1128 | {
|
---|
| 1129 | res.matrix() = m.matrix().inverse();
|
---|
| 1130 | }
|
---|
| 1131 | };
|
---|
| 1132 |
|
---|
| 1133 | } // end namespace internal
|
---|
| 1134 |
|
---|
| 1135 |
|
---|
| 1136 | /**
|
---|
| 1137 | *
|
---|
| 1138 | * \returns the inverse transformation according to some given knowledge
|
---|
| 1139 | * on \c *this.
|
---|
| 1140 | *
|
---|
| 1141 | * \param hint allows to optimize the inversion process when the transformation
|
---|
| 1142 | * is known to be not a general transformation (optional). The possible values are:
|
---|
| 1143 | * - #Projective if the transformation is not necessarily affine, i.e., if the
|
---|
| 1144 | * last row is not guaranteed to be [0 ... 0 1]
|
---|
| 1145 | * - #Affine if the last row can be assumed to be [0 ... 0 1]
|
---|
| 1146 | * - #Isometry if the transformation is only a concatenations of translations
|
---|
| 1147 | * and rotations.
|
---|
| 1148 | * The default is the template class parameter \c Mode.
|
---|
| 1149 | *
|
---|
| 1150 | * \warning unless \a traits is always set to NoShear or NoScaling, this function
|
---|
| 1151 | * requires the generic inverse method of MatrixBase defined in the LU module. If
|
---|
| 1152 | * you forget to include this module, then you will get hard to debug linking errors.
|
---|
| 1153 | *
|
---|
| 1154 | * \sa MatrixBase::inverse()
|
---|
| 1155 | */
|
---|
| 1156 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
| 1157 | Transform<Scalar,Dim,Mode,Options>
|
---|
| 1158 | Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
|
---|
| 1159 | {
|
---|
| 1160 | Transform res;
|
---|
| 1161 | if (hint == Projective)
|
---|
| 1162 | {
|
---|
| 1163 | internal::projective_transform_inverse<Transform>::run(*this, res);
|
---|
| 1164 | }
|
---|
| 1165 | else
|
---|
| 1166 | {
|
---|
| 1167 | if (hint == Isometry)
|
---|
| 1168 | {
|
---|
| 1169 | res.matrix().template topLeftCorner<Dim,Dim>() = linear().transpose();
|
---|
| 1170 | }
|
---|
| 1171 | else if(hint&Affine)
|
---|
| 1172 | {
|
---|
| 1173 | res.matrix().template topLeftCorner<Dim,Dim>() = linear().inverse();
|
---|
| 1174 | }
|
---|
| 1175 | else
|
---|
| 1176 | {
|
---|
| 1177 | eigen_assert(false && "Invalid transform traits in Transform::Inverse");
|
---|
| 1178 | }
|
---|
| 1179 | // translation and remaining parts
|
---|
| 1180 | res.matrix().template topRightCorner<Dim,1>()
|
---|
| 1181 | = - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
|
---|
| 1182 | res.makeAffine(); // we do need this, because in the beginning res is uninitialized
|
---|
| 1183 | }
|
---|
| 1184 | return res;
|
---|
| 1185 | }
|
---|
| 1186 |
|
---|
| 1187 | namespace internal {
|
---|
| 1188 |
|
---|
| 1189 | /*****************************************************
|
---|
| 1190 | *** Specializations of take affine part ***
|
---|
| 1191 | *****************************************************/
|
---|
| 1192 |
|
---|
| 1193 | template<typename TransformType> struct transform_take_affine_part {
|
---|
| 1194 | typedef typename TransformType::MatrixType MatrixType;
|
---|
| 1195 | typedef typename TransformType::AffinePart AffinePart;
|
---|
| 1196 | typedef typename TransformType::ConstAffinePart ConstAffinePart;
|
---|
| 1197 | static inline AffinePart run(MatrixType& m)
|
---|
| 1198 | { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
|
---|
| 1199 | static inline ConstAffinePart run(const MatrixType& m)
|
---|
| 1200 | { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
|
---|
| 1201 | };
|
---|
| 1202 |
|
---|
| 1203 | template<typename Scalar, int Dim, int Options>
|
---|
| 1204 | struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> > {
|
---|
| 1205 | typedef typename Transform<Scalar,Dim,AffineCompact,Options>::MatrixType MatrixType;
|
---|
| 1206 | static inline MatrixType& run(MatrixType& m) { return m; }
|
---|
| 1207 | static inline const MatrixType& run(const MatrixType& m) { return m; }
|
---|
| 1208 | };
|
---|
| 1209 |
|
---|
| 1210 | /*****************************************************
|
---|
| 1211 | *** Specializations of construct from matrix ***
|
---|
| 1212 | *****************************************************/
|
---|
| 1213 |
|
---|
| 1214 | template<typename Other, int Mode, int Options, int Dim, int HDim>
|
---|
| 1215 | struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim>
|
---|
| 1216 | {
|
---|
| 1217 | static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
|
---|
| 1218 | {
|
---|
| 1219 | transform->linear() = other;
|
---|
| 1220 | transform->translation().setZero();
|
---|
| 1221 | transform->makeAffine();
|
---|
| 1222 | }
|
---|
| 1223 | };
|
---|
| 1224 |
|
---|
| 1225 | template<typename Other, int Mode, int Options, int Dim, int HDim>
|
---|
| 1226 | struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim>
|
---|
| 1227 | {
|
---|
| 1228 | static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
|
---|
| 1229 | {
|
---|
| 1230 | transform->affine() = other;
|
---|
| 1231 | transform->makeAffine();
|
---|
| 1232 | }
|
---|
| 1233 | };
|
---|
| 1234 |
|
---|
| 1235 | template<typename Other, int Mode, int Options, int Dim, int HDim>
|
---|
| 1236 | struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, HDim,HDim>
|
---|
| 1237 | {
|
---|
| 1238 | static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
|
---|
| 1239 | { transform->matrix() = other; }
|
---|
| 1240 | };
|
---|
| 1241 |
|
---|
| 1242 | template<typename Other, int Options, int Dim, int HDim>
|
---|
| 1243 | struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HDim,HDim>
|
---|
| 1244 | {
|
---|
| 1245 | static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact,Options> *transform, const Other& other)
|
---|
| 1246 | { transform->matrix() = other.template block<Dim,HDim>(0,0); }
|
---|
| 1247 | };
|
---|
| 1248 |
|
---|
| 1249 | /**********************************************************
|
---|
| 1250 | *** Specializations of operator* with rhs EigenBase ***
|
---|
| 1251 | **********************************************************/
|
---|
| 1252 |
|
---|
| 1253 | template<int LhsMode,int RhsMode>
|
---|
| 1254 | struct transform_product_result
|
---|
| 1255 | {
|
---|
| 1256 | enum
|
---|
| 1257 | {
|
---|
| 1258 | Mode =
|
---|
| 1259 | (LhsMode == (int)Projective || RhsMode == (int)Projective ) ? Projective :
|
---|
| 1260 | (LhsMode == (int)Affine || RhsMode == (int)Affine ) ? Affine :
|
---|
| 1261 | (LhsMode == (int)AffineCompact || RhsMode == (int)AffineCompact ) ? AffineCompact :
|
---|
| 1262 | (LhsMode == (int)Isometry || RhsMode == (int)Isometry ) ? Isometry : Projective
|
---|
| 1263 | };
|
---|
| 1264 | };
|
---|
| 1265 |
|
---|
| 1266 | template< typename TransformType, typename MatrixType >
|
---|
| 1267 | struct transform_right_product_impl< TransformType, MatrixType, 0 >
|
---|
| 1268 | {
|
---|
| 1269 | typedef typename MatrixType::PlainObject ResultType;
|
---|
| 1270 |
|
---|
| 1271 | static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
|
---|
| 1272 | {
|
---|
| 1273 | return T.matrix() * other;
|
---|
| 1274 | }
|
---|
| 1275 | };
|
---|
| 1276 |
|
---|
| 1277 | template< typename TransformType, typename MatrixType >
|
---|
| 1278 | struct transform_right_product_impl< TransformType, MatrixType, 1 >
|
---|
| 1279 | {
|
---|
| 1280 | enum {
|
---|
| 1281 | Dim = TransformType::Dim,
|
---|
| 1282 | HDim = TransformType::HDim,
|
---|
| 1283 | OtherRows = MatrixType::RowsAtCompileTime,
|
---|
| 1284 | OtherCols = MatrixType::ColsAtCompileTime
|
---|
| 1285 | };
|
---|
| 1286 |
|
---|
| 1287 | typedef typename MatrixType::PlainObject ResultType;
|
---|
| 1288 |
|
---|
| 1289 | static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
|
---|
| 1290 | {
|
---|
| 1291 | EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
|
---|
| 1292 |
|
---|
| 1293 | typedef Block<ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime)==Dim> TopLeftLhs;
|
---|
| 1294 |
|
---|
| 1295 | ResultType res(other.rows(),other.cols());
|
---|
| 1296 | TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
|
---|
| 1297 | res.row(OtherRows-1) = other.row(OtherRows-1);
|
---|
| 1298 |
|
---|
| 1299 | return res;
|
---|
| 1300 | }
|
---|
| 1301 | };
|
---|
| 1302 |
|
---|
| 1303 | template< typename TransformType, typename MatrixType >
|
---|
| 1304 | struct transform_right_product_impl< TransformType, MatrixType, 2 >
|
---|
| 1305 | {
|
---|
| 1306 | enum {
|
---|
| 1307 | Dim = TransformType::Dim,
|
---|
| 1308 | HDim = TransformType::HDim,
|
---|
| 1309 | OtherRows = MatrixType::RowsAtCompileTime,
|
---|
| 1310 | OtherCols = MatrixType::ColsAtCompileTime
|
---|
| 1311 | };
|
---|
| 1312 |
|
---|
| 1313 | typedef typename MatrixType::PlainObject ResultType;
|
---|
| 1314 |
|
---|
| 1315 | static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
|
---|
| 1316 | {
|
---|
| 1317 | EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
|
---|
| 1318 |
|
---|
| 1319 | typedef Block<ResultType, Dim, OtherCols, true> TopLeftLhs;
|
---|
| 1320 | ResultType res(Replicate<typename TransformType::ConstTranslationPart, 1, OtherCols>(T.translation(),1,other.cols()));
|
---|
| 1321 | TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other;
|
---|
| 1322 |
|
---|
| 1323 | return res;
|
---|
| 1324 | }
|
---|
| 1325 | };
|
---|
| 1326 |
|
---|
| 1327 | /**********************************************************
|
---|
| 1328 | *** Specializations of operator* with lhs EigenBase ***
|
---|
| 1329 | **********************************************************/
|
---|
| 1330 |
|
---|
| 1331 | // generic HDim x HDim matrix * T => Projective
|
---|
| 1332 | template<typename Other,int Mode, int Options, int Dim, int HDim>
|
---|
| 1333 | struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, HDim,HDim>
|
---|
| 1334 | {
|
---|
| 1335 | typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
|
---|
| 1336 | typedef typename TransformType::MatrixType MatrixType;
|
---|
| 1337 | typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
|
---|
| 1338 | static ResultType run(const Other& other,const TransformType& tr)
|
---|
| 1339 | { return ResultType(other * tr.matrix()); }
|
---|
| 1340 | };
|
---|
| 1341 |
|
---|
| 1342 | // generic HDim x HDim matrix * AffineCompact => Projective
|
---|
| 1343 | template<typename Other, int Options, int Dim, int HDim>
|
---|
| 1344 | struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, HDim,HDim>
|
---|
| 1345 | {
|
---|
| 1346 | typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
|
---|
| 1347 | typedef typename TransformType::MatrixType MatrixType;
|
---|
| 1348 | typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
|
---|
| 1349 | static ResultType run(const Other& other,const TransformType& tr)
|
---|
| 1350 | {
|
---|
| 1351 | ResultType res;
|
---|
| 1352 | res.matrix().noalias() = other.template block<HDim,Dim>(0,0) * tr.matrix();
|
---|
| 1353 | res.matrix().col(Dim) += other.col(Dim);
|
---|
| 1354 | return res;
|
---|
| 1355 | }
|
---|
| 1356 | };
|
---|
| 1357 |
|
---|
| 1358 | // affine matrix * T
|
---|
| 1359 | template<typename Other,int Mode, int Options, int Dim, int HDim>
|
---|
| 1360 | struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,HDim>
|
---|
| 1361 | {
|
---|
| 1362 | typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
|
---|
| 1363 | typedef typename TransformType::MatrixType MatrixType;
|
---|
| 1364 | typedef TransformType ResultType;
|
---|
| 1365 | static ResultType run(const Other& other,const TransformType& tr)
|
---|
| 1366 | {
|
---|
| 1367 | ResultType res;
|
---|
| 1368 | res.affine().noalias() = other * tr.matrix();
|
---|
| 1369 | res.matrix().row(Dim) = tr.matrix().row(Dim);
|
---|
| 1370 | return res;
|
---|
| 1371 | }
|
---|
| 1372 | };
|
---|
| 1373 |
|
---|
| 1374 | // affine matrix * AffineCompact
|
---|
| 1375 | template<typename Other, int Options, int Dim, int HDim>
|
---|
| 1376 | struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, Dim,HDim>
|
---|
| 1377 | {
|
---|
| 1378 | typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
|
---|
| 1379 | typedef typename TransformType::MatrixType MatrixType;
|
---|
| 1380 | typedef TransformType ResultType;
|
---|
| 1381 | static ResultType run(const Other& other,const TransformType& tr)
|
---|
| 1382 | {
|
---|
| 1383 | ResultType res;
|
---|
| 1384 | res.matrix().noalias() = other.template block<Dim,Dim>(0,0) * tr.matrix();
|
---|
| 1385 | res.translation() += other.col(Dim);
|
---|
| 1386 | return res;
|
---|
| 1387 | }
|
---|
| 1388 | };
|
---|
| 1389 |
|
---|
| 1390 | // linear matrix * T
|
---|
| 1391 | template<typename Other,int Mode, int Options, int Dim, int HDim>
|
---|
| 1392 | struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,Dim>
|
---|
| 1393 | {
|
---|
| 1394 | typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
|
---|
| 1395 | typedef typename TransformType::MatrixType MatrixType;
|
---|
| 1396 | typedef TransformType ResultType;
|
---|
| 1397 | static ResultType run(const Other& other, const TransformType& tr)
|
---|
| 1398 | {
|
---|
| 1399 | TransformType res;
|
---|
| 1400 | if(Mode!=int(AffineCompact))
|
---|
| 1401 | res.matrix().row(Dim) = tr.matrix().row(Dim);
|
---|
| 1402 | res.matrix().template topRows<Dim>().noalias()
|
---|
| 1403 | = other * tr.matrix().template topRows<Dim>();
|
---|
| 1404 | return res;
|
---|
| 1405 | }
|
---|
| 1406 | };
|
---|
| 1407 |
|
---|
| 1408 | /**********************************************************
|
---|
| 1409 | *** Specializations of operator* with another Transform ***
|
---|
| 1410 | **********************************************************/
|
---|
| 1411 |
|
---|
| 1412 | template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
|
---|
| 1413 | struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,false >
|
---|
| 1414 | {
|
---|
| 1415 | enum { ResultMode = transform_product_result<LhsMode,RhsMode>::Mode };
|
---|
| 1416 | typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
|
---|
| 1417 | typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
|
---|
| 1418 | typedef Transform<Scalar,Dim,ResultMode,LhsOptions> ResultType;
|
---|
| 1419 | static ResultType run(const Lhs& lhs, const Rhs& rhs)
|
---|
| 1420 | {
|
---|
| 1421 | ResultType res;
|
---|
| 1422 | res.linear() = lhs.linear() * rhs.linear();
|
---|
| 1423 | res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
|
---|
| 1424 | res.makeAffine();
|
---|
| 1425 | return res;
|
---|
| 1426 | }
|
---|
| 1427 | };
|
---|
| 1428 |
|
---|
| 1429 | template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
|
---|
| 1430 | struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,true >
|
---|
| 1431 | {
|
---|
| 1432 | typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
|
---|
| 1433 | typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
|
---|
| 1434 | typedef Transform<Scalar,Dim,Projective> ResultType;
|
---|
| 1435 | static ResultType run(const Lhs& lhs, const Rhs& rhs)
|
---|
| 1436 | {
|
---|
| 1437 | return ResultType( lhs.matrix() * rhs.matrix() );
|
---|
| 1438 | }
|
---|
| 1439 | };
|
---|
| 1440 |
|
---|
| 1441 | template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
|
---|
| 1442 | struct transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact,LhsOptions>,Transform<Scalar,Dim,Projective,RhsOptions>,true >
|
---|
| 1443 | {
|
---|
| 1444 | typedef Transform<Scalar,Dim,AffineCompact,LhsOptions> Lhs;
|
---|
| 1445 | typedef Transform<Scalar,Dim,Projective,RhsOptions> Rhs;
|
---|
| 1446 | typedef Transform<Scalar,Dim,Projective> ResultType;
|
---|
| 1447 | static ResultType run(const Lhs& lhs, const Rhs& rhs)
|
---|
| 1448 | {
|
---|
| 1449 | ResultType res;
|
---|
| 1450 | res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix();
|
---|
| 1451 | res.matrix().row(Dim) = rhs.matrix().row(Dim);
|
---|
| 1452 | return res;
|
---|
| 1453 | }
|
---|
| 1454 | };
|
---|
| 1455 |
|
---|
| 1456 | template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
|
---|
| 1457 | struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptions>,Transform<Scalar,Dim,AffineCompact,RhsOptions>,true >
|
---|
| 1458 | {
|
---|
| 1459 | typedef Transform<Scalar,Dim,Projective,LhsOptions> Lhs;
|
---|
| 1460 | typedef Transform<Scalar,Dim,AffineCompact,RhsOptions> Rhs;
|
---|
| 1461 | typedef Transform<Scalar,Dim,Projective> ResultType;
|
---|
| 1462 | static ResultType run(const Lhs& lhs, const Rhs& rhs)
|
---|
| 1463 | {
|
---|
| 1464 | ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix());
|
---|
| 1465 | res.matrix().col(Dim) += lhs.matrix().col(Dim);
|
---|
| 1466 | return res;
|
---|
| 1467 | }
|
---|
| 1468 | };
|
---|
| 1469 |
|
---|
| 1470 | } // end namespace internal
|
---|
| 1471 |
|
---|
| 1472 | } // end namespace Eigen
|
---|
| 1473 |
|
---|
| 1474 | #endif // EIGEN_TRANSFORM_H
|
---|